Welding/WeldingSpotPerformance
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fix: Исправил обработку начала со статусом "Oncoming"

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Леонид Титов 2024-12-05 15:32:09 +03:00
parent 45de3c76fc
commit 68fc88a5d3
13 changed files with 11000 additions and 28603 deletions
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268
params/operator_params.json
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@ -1,19 +1,19 @@
{ {
"dist_open_start_1": [ "dist_open_start_1": [
0.005, 0.003,
0.005, 0.003,
0.005, 0.003,
0.005, 0.003,
0.005, 0.003,
0.005, 0.003,
0.005, 0.003,
0.005, 0.003,
0.005, 0.003,
0.005, 0.003,
0.005, 0.003,
0.005, 0.003,
0.005, 0.003,
0.005 0.003
], ],
"dist_open_start_2": [ "dist_open_start_2": [
0.005, 0.005,
@ -32,52 +32,52 @@
0.005 0.005
], ],
"dist_open_after_1": [ "dist_open_after_1": [
0.006, 0.001,
0.006, 0.001,
0.006, 0.001,
0.006, 0.001,
0.006, 0.001,
0.006, 0.001,
0.006, 0.001,
0.006, 0.001,
0.006, 0.001,
0.006, 0.001,
0.006, 0.001,
0.006, 0.001,
0.006, 0.001,
0.006 0.001
], ],
"dist_open_after_2": [ "dist_open_after_2": [
0.006, 0.001,
0.006, 0.001,
0.006, 0.001,
0.006, 0.001,
0.006, 0.001,
0.006, 0.001,
0.006, 0.001,
0.006, 0.001,
0.006, 0.001,
0.006, 0.001,
0.006, 0.001,
0.006, 0.001,
0.006, 0.001,
0.006 0.001
], ],
"dist_open_end_1": [ "dist_open_end_1": [
0.01, 0.005,
0.01, 0.005,
0.01, 0.005,
0.01, 0.005,
0.01, 0.005,
0.01, 0.005,
0.01, 0.005,
0.01, 0.005,
0.01, 0.005,
0.01, 0.005,
0.01, 0.005,
0.01, 0.005,
0.01, 0.005,
0.01 0.005
], ],
"dist_open_end_2": [ "dist_open_end_2": [
0.05, 0.05,
@ -96,20 +96,20 @@
0.05 0.05
], ],
"dist_close_end_1": [ "dist_close_end_1": [
0.005, 0.003,
0.005, 0.003,
0.005, 0.003,
0.005, 0.003,
0.005, 0.003,
0.005, 0.003,
0.005, 0.003,
0.005, 0.003,
0.005, 0.003,
0.005, 0.003,
0.005, 0.003,
0.005, 0.003,
0.005, 0.003,
0.005 0.003
], ],
"dist_close_end_2": [ "dist_close_end_2": [
0.005, 0.005,
@ -160,19 +160,19 @@
0.0 0.0
], ],
"time_robot_movement": [ "time_robot_movement": [
0.2, 0.314,
0.2, 0.331,
0.2, 0.356,
0.2, 0.428,
0.2, 0.418,
0.2, 0.454,
0.2, 0.458,
0.2, 0.54,
0.2, 0.49,
0.2, 0.47,
0.2, 0.44,
0.2, 0.425,
0.2, 0.464,
0.2 0.2
], ],
"object_thickness": [ "object_thickness": [
@ -225,140 +225,82 @@
], ],
"Tesla closing": [ "Tesla closing": [
0.216, 0.216,
0.228, 0.228,
0.252, 0.252,
0.216, 0.216,
0.228, 0.228,
0.216, 0.216,
0.228, 0.228,
0.228, 0.228,
0.228, 0.228,
0.216, 0.216,
0.228, 0.228,
0.216, 0.216,
0.216, 0.216,
0.216 0.216
], ],
"Tesla squeeze": [ "Tesla squeeze": [
0.276, 0.276,
0.288, 0.288,
0.264, 0.264,
0.264, 0.264,
0.276, 0.276,
0.276, 0.276,
0.312, 0.312,
0.276, 0.276,
0.24,
0.240, 0.24,
0.24,
0.240, 0.24,
0.24,
0.240, 0.24
0.240,
0.240,
0.240
], ],
"Tesla welding": [ "Tesla welding": [
1.332, 1.332,
1.644, 1.644,
1.644, 1.644,
1.428, 1.428,
1.284, 1.284,
1.308, 1.308,
1.272, 1.272,
1.38,
1.380,
1.416, 1.416,
1.392, 1.392,
1.38,
1.380,
1.404, 1.404,
1.452, 1.452,
1.452 1.452
], ],
"Tesla oncomming_relief": [ "Tesla oncomming_relief": [
0.528, 0.528,
0.528, 0.528,
0.54,
0.540,
0.636, 0.636,
0.504, 0.504,
0.468, 0.468,
0.492, 0.492,
0.54,
0.540,
0.563, 0.563,
0.588, 0.588,
0.541, 0.541,
0.564, 0.564,
0.576, 0.576,
0.507 0.507
], ],
"Tesla summary time": [ "Tesla summary time": [
2.34 , 2.34,
2.652 , 2.652,
2.796, 2.796,
2.4 , 2.4,
2.208 , 2.208,
2.34 , 2.34,
2.256 , 2.256,
2.544 , 2.544,
2.405 , 2.405,
2.405 , 2.405,
2.358 , 2.358,
2.37 , 2.37,
2.442 , 2.442,
1.908 1.908
] ]
} }

77
params/system_params.json
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@ -1,22 +1,59 @@
{ {
"trace_storage_path": ["/home/leonid/WorkUM/DevUFC/diagramm/performance"], "trace_storage_path": [
"monitor_update_period": [100], "/home/leonid/WorkUM/DevUFC/diagramm/performance"
"a_max_1": [5.41], ],
"v_max_1": [0.278], "monitor_update_period": [
"a_max_2": [35.81], 500
"v_max_2": [0.7], ],
"mass_1": [270], "a_max_1": [
"mass_2": [1], 7.96
"k_hardness_1": [2148570], ],
"k_hardness_2": [0], "v_max_1": [
"torque_max_1": [20], 0.499
"torque_max_2": [0], ],
"transmission_ratio_1": [0.00125], "a_max_2": [
"transmission_ratio_2": [1], 35.81
"position_start_1": [0.08], ],
"position_start_2": [0.08], "v_max_2": [
"k_prop": [0.05], 0.75
"time_capture": [100000], ],
"UML_time_scaler": [1000] "mass_1": [
270.0
],
"mass_2": [
1.0
],
"k_hardness_1": [
2148570.0
],
"k_hardness_2": [
0.0
],
"torque_max_1": [
13.8
],
"torque_max_2": [
0.0
],
"transmission_ratio_1": [
0.00125
],
"transmission_ratio_2": [
1.0
],
"position_start_1": [
0.02
],
"position_start_2": [
0.073
],
"k_prop": [
0.075
],
"time_capture": [
100000.0
],
"UML_time_scaler": [
1000.0
]
} }

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trace_samples/2024_11_08-19_30_49.csv
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trace_samples/2024_11_08-19_30_52.csv
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trace_samples/2024_11_08-19_31_03.csv
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trace_samples/2024_12_05-14_44_11.csv Executable file
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trace_samples/old/2024_11_01-09_39_17.csv
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trace_samples/old/2024_11_01-09_39_17A.csv
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trace_samples/old/2024_11_01-09_39_17A00.csv
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trace_samples/old/2024_11_01-09_39_17B00.csv
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trace_samples/old/fullF.csv
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